CN113778129A - Hypersonic speed variable sweepback wing aircraft tracking control method with interference compensation - Google Patents
Hypersonic speed variable sweepback wing aircraft tracking control method with interference compensation Download PDFInfo
- Publication number
- CN113778129A CN113778129A CN202111113738.5A CN202111113738A CN113778129A CN 113778129 A CN113778129 A CN 113778129A CN 202111113738 A CN202111113738 A CN 202111113738A CN 113778129 A CN113778129 A CN 113778129A
- Authority
- CN
- China
- Prior art keywords
- angle
- tracking control
- interference
- flight
- control law
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000000034 method Methods 0.000 title claims abstract description 61
- 238000001914 filtration Methods 0.000 claims abstract description 30
- 239000002131 composite material Substances 0.000 claims abstract description 27
- 238000013461 design Methods 0.000 claims abstract description 27
- 230000008569 process Effects 0.000 claims abstract description 22
- 230000007246 mechanism Effects 0.000 claims abstract description 6
- 238000013016 damping Methods 0.000 claims description 15
- 150000001875 compounds Chemical class 0.000 claims description 6
- 230000000694 effects Effects 0.000 claims description 6
- 230000002730 additional effect Effects 0.000 claims description 5
- 230000001133 acceleration Effects 0.000 claims description 3
- 230000004044 response Effects 0.000 claims description 3
- 230000011664 signaling Effects 0.000 claims description 3
- 230000009466 transformation Effects 0.000 claims description 3
- NAWXUBYGYWOOIX-SFHVURJKSA-N (2s)-2-[[4-[2-(2,4-diaminoquinazolin-6-yl)ethyl]benzoyl]amino]-4-methylidenepentanedioic acid Chemical compound C1=CC2=NC(N)=NC(N)=C2C=C1CCC1=CC=C(C(=O)N[C@@H](CC(=C)C(O)=O)C(O)=O)C=C1 NAWXUBYGYWOOIX-SFHVURJKSA-N 0.000 claims description 2
- 230000000454 anti-cipatory effect Effects 0.000 claims description 2
- 230000005484 gravity Effects 0.000 claims description 2
- 230000010354 integration Effects 0.000 claims description 2
- 238000010586 diagram Methods 0.000 description 4
- 238000004088 simulation Methods 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 2
- 230000003287 optical effect Effects 0.000 description 2
- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000012938 design process Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 238000004804 winding Methods 0.000 description 1
Images
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/107—Simultaneous control of position or course in three dimensions specially adapted for missiles
Landscapes
- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Feedback Control In General (AREA)
Abstract
The invention discloses an interference compensation hypersonic speed variable sweepback wing aircraft tracking control method, and belongs to the technical field of hypersonic speed aircraft control. The implementation method of the invention comprises the following steps: considering flight state constraint, input saturation influence, additional interference generated in the continuous deformation process and uncertainty of aerodynamic parameters, and establishing an aircraft longitudinal dynamics model; taking the deformation additional force, the moment and the pneumatic uncertainty items as unknown composite interference, and establishing an uncertain strict feedback nonlinear tracking control system; designing a nonlinear disturbance observer to realize accurate estimation of unknown disturbance; a Backstepping control method is adopted to design a tracking control law one by one, composite interference is counteracted by introducing an interference compensation mechanism, the command filtering tracking control law based on interference compensation is designed by designing command filtering auxiliary system compensation state constraint and inputting saturation influence, the stability and robustness of a closed loop system are improved, and stable flight of the hypersonic speed variable sweepback wing aircraft under the working conditions of a transonic speed domain and multi-mode flight is realized.
Description
Technical Field
The invention belongs to the technical field of control of hypersonic flight vehicles, and relates to a method for tracking and controlling a hypersonic variable-sweep-wing aircraft.
Background
The hypersonic flight vehicle has the advantages of high flying speed, wide coverage airspace, strong maneuverability and the like, and becomes a hot spot for the development of aerospace science and technology of various countries in the world. The traditional hypersonic aircraft with a fixed structure is designed under a specific flight condition, and the multitask execution capability of the hypersonic aircraft in a transonic speed domain and high dynamic environment is limited. In order to respond to changes of flight environments and task scenes, the hypersonic speed variable sweepback wing aircraft dynamically adjusts flight performance by changing the sweepback angle of wings so as to realize stable flight in a speed-crossing region under a multi-mode flight working condition. However, the severe changes of parameters such as aerodynamics and structure in the processes of flying in a cross-speed domain and changing the swept wing cause strong uncertainty, unsteady interference and other influences on the system, so that the design of a tracking control system of a hypersonic speed variable-swept wing aircraft faces huge challenges.
In recent years, the tracking control technology of hypersonic variable-sweep-wing aircraft is widely concerned by scholars at home and abroad, and certain theoretical research results are obtained. However, most of the existing methods model the deformation process of the hypersonic aircraft as hard switching of a multi-switching system, neglect factors such as additional interference generated in the deformation process and great change of pneumatic parameters, and do not consider state and input constraints in the flight process, so that the stability of the hypersonic aircraft in the deformation process is difficult to guarantee. Thus. The command filtering tracking control law based on interference compensation is necessary to be designed, so that the composite interference caused by considering the additional effect of deformation and the pneumatic uncertainty is counteracted, the state constraint and the input saturation influence of the control system are reduced, the stability and the robustness of the closed loop system are improved, and the stable flight of the hypersonic speed variable sweepback wing aircraft under the working conditions of a transonic speed domain and a multi-mode flight is realized.
Disclosure of Invention
The invention discloses a hypersonic speed variable sweepback wing aircraft tracking control method with interference compensation, which mainly aims to: designing a nonlinear interference observer based on the established hypersonic speed variable-sweep wing aircraft uncertain strict feedback nonlinear tracking control system, and offsetting and considering composite interference caused by deformation additional effect and pneumatic uncertainty, thereby realizing accurate estimation and compensation of the unknown interference; the command filtering auxiliary system is designed to compensate state constraint and input saturation influence, a Backstepping framework is adopted to design a command filtering tracking control law based on interference observation compensation, the robustness of a closed-loop system is improved, and stable flight of the hypersonic speed variable sweepback wing aircraft under the working conditions of a transonic speed domain and a multimode flight is ensured.
The purpose of the invention is realized by the following technical scheme:
the invention discloses an interference-compensated hypersonic velocity variable-backswept wing aircraft tracking control method, which considers flight state constraint, input saturation influence, additional interference generated in a continuous deformation process and uncertainty of aerodynamic parameters, and establishes a longitudinal dynamics model of a hypersonic velocity variable-backswept wing aircraft. The uncertain strict feedback nonlinear tracking control system is established by selecting the height, the trajectory inclination angle, the flight attack angle and the pitch angle speed as state variables, taking the deflection angle of the elevator as a control quantity and regarding deformation additional force, moment and pneumatic uncertainty items as unknown composite interference. And designing a nonlinear disturbance observer to realize accurate estimation of unknown disturbance. A Backstepping control method is adopted to design tracking control laws of the altitude, trajectory inclination angle, attack angle and pitch angle of the hypersonic speed variable sweepback wing aircraft successively, an interference compensation mechanism is introduced to offset compound interference caused by a deformation process and aerodynamic uncertainty, a command filtering auxiliary system is designed to compensate state constraint and input saturation influence, a command filtering tracking control law based on interference compensation is designed, the stability and robustness of a closed-loop system are improved, and stable flight of the hypersonic speed variable sweepback wing aircraft under the working conditions of a cross-speed region and multi-mode flight is realized.
The invention discloses an interference compensation hypersonic speed variable sweepback wing aircraft tracking control method, which comprises the following steps:
step one, considering flight state constraint, input saturation influence, additional interference generated in a continuous deformation process and uncertainty of aerodynamic parameters, and establishing a longitudinal dynamics model of the hypersonic speed variable-sweep wing aircraft.
The method comprises the following steps of establishing a longitudinal dynamic model of the hypersonic speed variable-sweep wing aircraft as shown in formula (1):
wherein H is the flying height, X is the forward flying distance, V is the flying speed, gamma is the trajectory inclination angle, theta is the organism pitch angle, alpha is the flying attack angle, q is the pitch angle speed, and lambda is the wing sweep angle. m is the total mass of the aircraft,
is the moment of inertia of the machine body to the center of mass of the machine body,
is the moment of inertia of the wing to the center of mass of the airframe, and g is the acceleration of gravity. The deformation process is modeled as a continuous second order segment,
and ζΛUndamped natural frequency and damping ratio, Λ, for a variable sweep angle responsecIs a sweep angle control command.
And
additional disturbance force and moment terms for the sweep angle transformation:
wherein ,mwIn order to be the quality of the wing,
the distance from the center of mass of the wing to the center of mass of the body along the axial direction of the body. L, D and
is the aerodynamic and aerodynamic moments to which the aircraft is subjected:
where ρ is the air density, Ma is the flight Mach number, Sref(Λ) is a reference area, LrefIs a reference length. CL(Ma,α,Λ)、CD(Ma, α, Λ) and Cmz(Ma, α, Λ) are lift, drag and pitch moment coefficients, respectively, which can be expressed as nonlinear functions of flight mach number Ma, sweep angle Λ and angle of attack α:
wherein ,δeIn order to raise and lower the rudder deflection angle,
are respectively the aerodynamic coefficients under the zero attack angle,
respectively are first-order proportional coefficients of lift coefficient, drag coefficient and pitching moment coefficient to attack angle,
is the second order proportionality coefficient of drag coefficient to angle of attack,
for controlling the ratio of torque to rudder deflection angle, Delta CL、△CD、△CmzRespectively, are uncertainty terms of the aerodynamic coefficient. Considering flight state constraint and input saturation influence, the flight state and elevator deflection angle need to meet the following constraints in the flight process:
wherein ,[γmin,γmax]、[αmin,αmax]、[qmin,qmax]And
the lower and upper bounds of the trajectory inclination, angle of attack, pitch rate, and elevator yaw angle, respectively.
And step two, based on the hypersonic speed variable sweepback wing aircraft longitudinal dynamics model established in the step one, an uncertain strict feedback nonlinear tracking control system is established by selecting the altitude, the trajectory inclination angle, the flight attack angle and the pitch angle speed as state variables and the elevator deflection angle as control variables, and regarding deformation additional force, moment and pneumatic uncertain items as system unknown composite interference.
Selecting a state vector x ═ x1,x2,x3,x4]T＝[H,γ,α,q]TControl quantity u is deltaeThe composite interference formed by the deformation additional force, the moment and the pneumatic uncertain items is recorded as follows:
wherein ,
and
uncertainty due to aerodynamic parameters. The system shown in the formula (1) is converted into an uncertain strict feedback nonlinear tracking control system as follows:
wherein ,g1(x2)、f2(x,Λ)、b1(x,Λ)、g2(x,Λ)、f2(x, Λ) and b2(x, Λ) is specifically:
and step three, designing a nonlinear disturbance observer based on the uncertain strict feedback nonlinear tracking control system in the step two, and realizing accurate estimation of the unknown complex disturbance of the system.
In order to ensure accurate and fast estimation of the unknown complex interference of the system, the following nonlinear interference observer is preferably designed for the model shown in the formula (7):
wherein ,
are respectively d1 and d2An observed value of z1 and z2Is the internal state of a non-linear disturbance observer, Q1 and Q2Is the observer gain.
And step four, based on the uncertain strict feedback nonlinear tracking control system in the step two and the nonlinear disturbance observer designed in the step three, adopting a Backstepping frame to design the tracking control laws of the altitude, the trajectory inclination angle, the attack angle and the pitch angle speed of the hypersonic velocity variable sweepback wing aircraft successively. In each layer of control law design, aiming at the given flight state and input constraint in the step one, the state and input saturation influence are compensated by designing an instruction filtering auxiliary system; aiming at the system unknown composite interference caused by the deformation additional effect and the pneumatic uncertainty in the step two, an interference compensation mechanism is introduced to counteract the interference influence, an instruction filtering tracking control law based on interference compensation is designed, the stability and robustness of a closed-loop system are improved, and stable flight of the hypersonic speed variable sweepback wing aircraft under the working conditions of a transonic speed domain and multi-mode flight is realized.
Aiming at the uncertain strict feedback nonlinear tracking control model shown in the formula (7), based on a Backstepping method, a tracking control law of the altitude, the trajectory inclination angle, the attack angle and the pitch angle speed of the hypersonic velocity variable sweepback aircraft is designed successively, and the method comprises the following implementation steps:
step 4.1: and (4) designing a hypersonic speed variable sweepback wing aircraft height tracking control law by considering trajectory inclination angle constraint. Recording the height reference signal as
Derivative thereof
Is a known signal. Defining a height tracking error as
Designing virtual control quantities
Comprises the following steps:
wherein ,K1>0 is a design parameter of the optical disc,
the expected ballistic dip angle. By pairs
The anticipatory ballistic dip command is:
considering the trajectory inclination angle constraint shown in equation (5), will
The input command filter performs constraint limiting.
To ensure fast operation of instruction filtering, the following second order instruction filter is preferably selected:
wherein ,
in the form of a command for a ballistic inclination signal, sat (-) is a saturation function, ω1,n and ζ1The undamped natural frequency and damping ratio of the instruction filter. By integrating equation (12), the command signal is obtained quickly
First derivative of
And signaling the inclination angle of the trajectory
Given constraints are satisfied. Considering the error influence between the actual input and the instruction output under the condition of instruction filtering saturation, the following compensation dynamic system is designed:
wherein ,ξ1To compensate the signal. Defining the compensated height error as epsilon1＝e1-ξ1Will epsilon1Introducing a height control law, changing the formula (10) into:
wherein ,c1>0 is the compensation gain. Equation (14) is a height tracking control law with an instruction filtering auxiliary system, and ballistic inclination angle instructions obtained by solving equations (11) and (12)
And derivatives thereof
Step 4.2: and (4) considering the attack angle constraint, the deformation additional force and the composite interference influence generated by aerodynamic uncertainty, and designing a trajectory inclination angle tracking control law. Defining the tracking error of the ballistic inclination as
Introducing the composite interference estimated value obtained in the third step
Counteracting the deformation additional force generated by the variable sweepback wing and the compound interference influence generated by aerodynamic uncertainty, and designing a trajectory inclination angle tracking control law:
wherein ,K2>0 and c2>0 is a design parameter of the optical disc,
for desired angle of flight, epsilon2For compensated ballistic inclination tracking error, defined as ε2＝e2-ξ2，ξ2To compensate the signal. Considering the attack angle constraint shown in the formula (5), the following compensation dynamic auxiliary system is designed to reduce the state saturation influence:
will be provided with
The input command filter performs constraint limiting. Preferably, the following second order instruction filter is selected:
wherein ,ω2,n and ζ2The undamped natural frequency and damping ratio of the instruction filter. Instruction form for obtaining expected attack angle by integrating equation (17)
And derivatives thereof
Step 4.3: and (4) considering the pitch angle and speed constraint and designing an attack angle tracking control law. Defining an angle of attack tracking error as
The attack angle tracking control law is designed as follows:
wherein ,
to expect pitch angle velocity, K3>0 and c3>0 is a design parameter, ε3For compensated angle of attack error, defined as ε3＝e3-ξ3. Considering the pitch angle rate constraint shown in equation (5), the following compensation dynamic assistance system is designed to reduce the input saturation effect:
wherein ,ξ3To compensate the signal. Will be provided with
The input command filter performs constraint limiting. Preferably, it is selectedTake the following second order instruction filter:
wherein ,ω3,n and ζ3The undamped natural frequency and damping ratio of the instruction filter. Integration of (20) to obtain the desired pitch rate command form
And derivatives thereof
Step 4.4: and (4) considering the input saturation, the composite interference influence generated by the additional moment of deformation and the aerodynamic uncertainty, and designing a pitch angle speed tracking control law. Defining an angular velocity tracking error as
Introducing the composite interference estimated value obtained in the third step
Offsetting the composite interference influence generated by the deformation additional moment and the aerodynamic uncertainty and designing the expected elevator deflection command udComprises the following steps:
in the formula ,K4>0 and c4>0 is a design parameter, ε4＝e4-ξ4For compensated pitch angle speed tracking error, ξ4To compensate the signal. Considering the elevator deflection angle constraint shown in the formula (5), the following compensation dynamic auxiliary system is designed to reduce the input saturation influence:
wherein ,ucIs udIn the form of instructions. Will udThe input command filter performs constraint limiting. Preferably, the following second order instruction filter is selected:
wherein ,ω4,n and ζ4The undamped natural frequency and damping ratio of the instruction filter. Obtaining the command form u of the deflection angle of the elevator according to the formula (23)c。
Step 4.5: the command filtering tracking control law based on interference compensation designed for the steps 4.1 to 4.4 comprises a height tracking control law in the step 4.1, a trajectory inclination angle tracking control law in the step 4.2, an attack angle tracking control law in the step 4.3, a pitch angle and speed tracking control law in the step 4.4, and control law conditions for ensuring system stability and robustness are given based on a Lyapunov stability method:
K*＝min{K1+c1,K2+c2-0.5,K3+c3,K4+c4-0.5,Q1-1,Q2-1}>0 (24)
will ucIn the system shown in the input formula (7), tracking control is performed according to the command filtering tracking control law of the hypersonic speed variable sweepback wing aircraft with interference compensation, so that the stability and robustness of a closed loop system can be improved, and stable flight of the hypersonic speed variable sweepback wing aircraft under the working conditions of a transonic speed domain and multi-mode flight is ensured.
Has the advantages that:
1. the invention discloses an interference-compensated hypersonic speed variable-backswept wing aircraft tracking control method, which considers additional interference generated in the continuous deformation process of a hypersonic speed variable-backswept wing aircraft and composite interference caused by uncertainty of pneumatic parameters, quickly and accurately estimates the unknown interference by designing a nonlinear interference observer, introduces an interference compensation mechanism to design a tracking control law of the hypersonic speed variable-backswept wing aircraft with interference compensation, inhibits the influence of the composite interference caused by an additional deformation effect and a pneumatic uncertainty item on flight control, improves the stability and robustness of a closed loop system, and ensures the stable flight of the hypersonic speed variable-backswept wing aircraft in a transonic speed region under a multi-mode flight working condition.
2. The invention discloses an interference compensation hypersonic speed variable sweepback wing aircraft tracking control method, which considers the flight state and input constraint of a hypersonic speed variable sweepback wing aircraft in the flight process, compensates the state constraint and input saturation influence in the flight process by designing a command filtering compensation dynamic auxiliary system, and improves the stability and robustness of the hypersonic speed variable sweepback wing aircraft in a transonic speed region under a multi-mode flight working condition.
Drawings
FIG. 1 is a flow chart of the design of a disturbance-compensated hypersonic sweep wing aircraft tracking controller of the invention.
FIG. 2 is a frame diagram of the tracking control design of the disturbance-compensated hypersonic swept wing aircraft of the invention.
Fig. 3 is a diagram of a simulation result of the hypersonic speed working condition provided by the embodiment of the invention.
Fig. 4 is a diagram of a simulation result of supersonic operating conditions according to an embodiment of the present invention.
FIG. 5 is a diagram of a simulation result of a transonic speed condition provided by an embodiment of the present invention.
Detailed Description
The technical scheme of the invention is further explained in detail by combining the attached drawings:
in order to make the objects, technical solutions and advantages of the present invention more apparent, a design process of the present invention is described in detail below with reference to the accompanying drawings. Wherein like or similar designations denote like or similar functionality throughout.
As shown in fig. 1, the embodiment discloses a hypersonic velocity sweep wing aircraft tracking control method with disturbance compensation, which includes the following specific steps:
example 1:
step one, considering flight state constraint, input saturation influence, additional interference generated in a continuous deformation process and uncertainty of aerodynamic parameters, and establishing a longitudinal dynamics model of the hypersonic speed variable-sweep wing aircraft.
Taking Variable-sweep-wing-winding aerodynamic and structural data as an example, a longitudinal dynamics model is established as follows:
wherein H is the flying height, X is the forward flying distance, V is the flying speed, gamma is the trajectory inclination angle, theta is the organism pitch angle, alpha is the flying attack angle, q is the pitch angle speed, and lambda is the wing sweep angle. The total mass m of the aircraft is 600kg,
is the moment of inertia of the machine body to the center of mass of the machine body,
the moment of inertia of the wing to the mass center of the body is specifically as follows:
g＝μ/r2is the local gravitational acceleration, R ═ Re+ H distance of the aircraft from the center of the earth, Re6378.14km is the radius of the earth, μ 3.986 × 1014Is a constant of attraction. The process of changing the sweepback angle is modeled as a continuous second-order link,
and ζΛTaking undamped natural frequency and damping ratio for response respectively
ζΛ＝0.9，ΛcIs a sweep angle control command.
And
additional force and additional moment terms generated for the sweep angle transformation:
wherein ,mw38kg is the wing mass,
the distance from the center of mass of the wing to the center of mass of the body along the axial direction of the body, specifically
L、D and 
the aerodynamic force and aerodynamic moment suffered by the VWM are as follows:
wherein ρ is the air density, Ma is the flight mach number, and in this embodiment, ρ and Ma are both calculated and obtained by 1946 us standard atmospheric model.
For the purpose of reference area, the area of the reference,
the wing area specifically is as follows:
wherein Λ is an angle. L isref＝1.6852mIs a reference length. CL(Ma,α,Λ)、CD(Ma, α, Λ) and Cmz(Ma, α, Λ) are lift, drag and pitch moment coefficients, respectively, which can be expressed as nonlinear functions of flight mach number Ma, sweep angle Λ and angle of attack α:
wherein ,δeIn order to raise and lower the rudder deflection angle,
are respectively the aerodynamic coefficients under the zero attack angle,
respectively are first-order proportional coefficients of lift coefficient, drag coefficient and pitching moment coefficient to attack angle,
is the second order proportionality coefficient of drag coefficient to angle of attack,
for controlling the ratio of torque to rudder deflection angle, Delta CL、△CD、△CmzRespectively, are uncertainty terms of the aerodynamic coefficient.
The method specifically comprises the following steps:
in the formulae (32) to (36),
is a normalized sweep angle.
Note the book
The pitch moment coefficient at zero rudder deflection can be written as a third order polynomial function:
wherein ,
in order to standardize the sweep angle of the back,
to standardize the angle of attack. At flight Mach numbers Ma of 0.8, 1.5, 2, 3, 4, 6
The polynomial coefficients of (a) are:
TABLE 1 Mach number
Polynomial coefficient of
In other flight Mach numbers Ma
Obtained by linear interpolation from the table above.
The control moment coefficient is specifically taken as:
considering flight state constraint and input saturation influence, the flight state and the elevator deflection angle meet the following constraints in the flight process:
and step two, based on the hypersonic speed variable sweepback wing aircraft longitudinal dynamics model established in the step one, an uncertain strict feedback nonlinear tracking control system is established by selecting the altitude, the trajectory inclination angle, the flight attack angle and the pitch angle speed as state variables and the elevator deflection angle as control variables, and regarding deformation additional force, moment and pneumatic uncertain items as system unknown composite interference.
The VWM longitudinal kinematics model shown in the formula is rewritten into an uncertain strict feedback nonlinear tracking control system:
wherein x is [ x ]1,x2,x3,x4]T＝[H,γ,α,q]TFor the state vector, the controlled variable u is δe，d1、d2Adding system unknown compound interference consisting of force, moment and pneumatic uncertainty for deformation:
in the present embodiment, it is preferred that,
and
taking the following steps:
g1(x2)、f2(x,Λ)、b1(x,Λ)、g2(x,Λ)、f2(x, Λ) and b2(x, Λ) is specifically:
and step three, designing a nonlinear disturbance observer based on the uncertain strict feedback nonlinear tracking control system in the step two, and realizing accurate estimation of the unknown complex disturbance of the system.
Note d1、d2Observed value of
And
for the model shown in equation (40), the following nonlinear disturbance observer is designed:
wherein ,z1 and z2Is the internal state of the non-linear disturbance observer, in this embodiment, the observer gain is taken as Q1＝35，Q2＝40。
And step four, based on the uncertain strict feedback nonlinear tracking control system in the step two and the nonlinear disturbance observer designed in the step three, adopting a Backstepping frame to design the tracking control laws of the altitude, the trajectory inclination angle, the attack angle and the pitch angle speed of the hypersonic velocity variable sweepback wing aircraft successively. In each layer of control law design, aiming at the given flight state and input constraint in the step one, the state and input saturation influence are compensated by designing an instruction filtering auxiliary system; aiming at the system unknown composite interference caused by the deformation additional effect and the pneumatic uncertainty in the step two, an interference compensation mechanism is introduced to counteract the interference influence, an instruction filtering tracking control law based on interference compensation is designed, the stability and robustness of a closed-loop system are improved, and stable flight of the hypersonic speed variable sweepback wing aircraft under the working conditions of a transonic speed domain and multi-mode flight is realized.
In this embodiment, there are 3 sets of conditions:
(1) hypersonic working condition: h0＝20000m，V01500m/s, sweep angle reference signal
(2) Supersonic working conditions are as follows: h0＝20000m，V0800m/s, sweep angle reference signal
(3) Transonic working condition: h0＝20000m，V0400m/s, sweep angle reference signal
All the other simulation initial values are set as gamma0＝0°，α0＝2.2°，q 00 °/s. And each group of working conditions is switched at the sweep angle t of 10,30,50,70 and 90 s.
As shown in fig. 2, for the uncertain strict feedback nonlinear tracking control model shown in formula (40), the embodiment successively designs the tracking control laws of the altitude, the trajectory inclination angle, the attack angle and the pitch angle of the hypersonic variable-sweep-wing aircraft based on a Backstepping method, and the specific design steps are as follows:
step 4.1: and (4) designing a hypersonic speed variable sweepback wing aircraft height tracking control law by considering trajectory inclination angle constraint. Recording the height reference signal as
Derivative thereof
Is a known signal. In this embodiment, the height reference signal is
Where Δ H is 100m and σ is 0.3. Defining a height tracking error as
Designing virtual control quantities
Comprises the following steps:
wherein, feedback gain K is taken1＝0.25，
The expected ballistic dip angle. By passing
The expected ballistic dip command can be solved inversely as:
considering the constraint shown in equation (39), will
And inputting the data into the following second-order instruction filtering auxiliary system for constraint limitation:
wherein ,
in the form of a command for a ballistic inclination signal, sat (-) is a saturation function, ω1,n and ζ1The undamped natural frequency and damping ratio of the instruction filter, in this embodiment, are taken as ω1,n＝20，ζ10.707. The command signal is obtained from equation (48)
First derivative of
And signaling the inclination angle of the trajectory
Given constraints are satisfied. Considering the trajectory inclination angle constraint, the following compensation dynamic system compensation input is designedThe effect of the error between the actual input and the command input in case of saturation:
wherein ,ξ1To compensate the signal. Defining the compensated height error as epsilon1＝e1-ξ1Will epsilon1Introducing a height control law, changing (10) into:
wherein ,c10.05 is the compensation signal gain. Obtaining a reference trajectory inclination angle instruction by solving equations (47) and (48)
And derivatives thereof
Step 4.2: considering the attack angle constraint, the compound interference influence generated by deformation additional force and aerodynamic uncertainty, and defining the tracking error of the trajectory inclination angle as
Step three is introduced to obtain an interference estimated value
Counteracting the deformation additional force generated by the variable sweepback wing and the compound interference influence generated by aerodynamic uncertainty, and designing a trajectory inclination angle tracking control law:
wherein, the design parameter K2、c2Is taken as K2＝1.4，c2When the number-0.08 is equal to the number,
for desired angle of flight, epsilon2For compensated ballistic inclination tracking error, defined as ε2＝e2-ξ2，ξ2To compensate the signal. Considering the attack angle constraint, the following compensation dynamic auxiliary system is designed to reduce the input saturation influence:
will be provided with
The following second order instruction filtering system is input for constraint limitation:
wherein ,ω2,n and ζ2Is the undamped natural frequency and damping ratio of the instruction filter, and is taken as omega2,n＝30，ζ20.707. Instruction form for obtaining expected attack angle by integrating equation (53)
And derivatives thereof
Step 4.3: and (4) considering the pitch angle and speed constraint and designing an attack angle tracking control law. Defining an angle of attack tracking error as
The attack angle tracking control law is designed as follows:
wherein ,
to expect pitch angle velocity, the design parameter is taken to be K3＝5.5 and c30.10 is ∈3For compensated angle of attack error, defined as ε3＝e3-ξ3. Considering the pitch angle rate constraint, the following compensation dynamic auxiliary system is designed to reduce the input saturation effect:
wherein ,ξ3To compensate the signal. Will be provided with
The following second order instruction filtering system is input to satisfy a given state constraint:
wherein ,ω3,n and ζ3Is the undamped natural frequency and damping ratio of the instruction filter, and is taken as omega3,n＝40，ζ30.707. Command form for obtaining expected pitch angle by integrating (56)
And derivatives thereof
Step 4.4: and (4) considering the input saturation, the composite interference influence generated by the additional moment of deformation and the aerodynamic uncertainty, and designing a pitch angle speed tracking control law. Defining an angular velocity tracking error as
Step three is introduced to obtain an interference estimated value
Compensating the interference influence generated by the deformation additional moment and the pneumatic uncertainty and designing the expected elevator deflection command udComprises the following steps:
wherein the design parameter is K4＝8.2，c4＝0.12，ε4＝e4-ξ4For compensated pitch angle speed tracking error, ξ4To compensate the signal. The following compensation dynamic assistance system is designed to reduce the input saturation effect:
wherein ,ucIs udIn the form of instructions. Will udThe following second order instruction filtering system is input to satisfy a given input constraint:
wherein ,ω4,n and ζ4Is the undamped natural frequency and damping ratio of the instruction filter, and is taken as omega4,n＝45，ζ40.707. The integral according to the formula (59) can obtain an elevator deflection angle instruction uc。
Step 4.5: the command filtering tracking control law based on interference compensation designed in the steps 4.1 to 4.4 comprises a height tracking control law in the step 4.1, a trajectory inclination angle tracking control law in the step 4.2, an attack angle tracking control law in the step 4.3, a pitch angle speed tracking control law in the step 4.4, and stability of a closed-loop system is analyzed based on a Lyapunov stability method. As can be seen from equation (24), the control parameters obtained in this embodiment can satisfy the control law conditions of system stability and robustness.
Through the steps, the interference observation compensation auxiliary system and the second-order command filtering auxiliary system are integrated into the Backstepping control method design, so that the composite interference caused by the deformation process and the aerodynamic uncertainty is inhibited on the premise that the state and the input of the hypersonic speed variable-sweep-wing aircraft do not violate the constraint conditions, and the stable flight of the hypersonic speed variable-sweep-wing aircraft in the speed-crossing region and the deformation process is realized. As shown in fig. 3, the hypersonic variable sweepback wing aircraft accurately tracks the altitude signal under the hypersonic working condition, as shown in fig. 4, the hypersonic variable sweepback wing aircraft accurately tracks the altitude signal under the supersonic working condition, as shown in fig. 5, the hypersonic variable sweepback wing aircraft accurately tracks the altitude signal under the transonic working condition.
The above detailed description is intended to illustrate the objects, aspects and advantages of the present invention, and it should be understood that the above detailed description is only exemplary of the present invention and is not intended to limit the scope of the present invention, and any modifications, equivalents, improvements and the like made within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (5)
1. A hypersonic speed variable sweepback wing aircraft tracking control method with interference compensation is characterized in that: comprises the following steps of (a) carrying out,
step one, considering flight state constraint, input saturation influence, additional interference generated in a continuous deformation process and uncertainty of aerodynamic parameters, and establishing a longitudinal dynamic model of the hypersonic speed variable-sweep wing aircraft;
secondly, based on the hypersonic speed variable sweepback wing aircraft longitudinal dynamics model established in the first step, an uncertain strict feedback nonlinear tracking control system is established by selecting the height, the trajectory inclination angle, the flight attack angle and the pitch angle speed as state variables and the elevator deflection angle as control variables, and considering deformation additional force, moment and pneumatic uncertainty as system unknown composite interference;
thirdly, designing a nonlinear disturbance observer based on the uncertain strict feedback nonlinear tracking control system in the second step to realize accurate estimation of unknown complex disturbance of the system;
step four, based on the uncertain strict feedback nonlinear tracking control system in the step two and the nonlinear disturbance observer designed in the step three, adopting a Backstepping frame to design the tracking control laws of the altitude, the trajectory inclination angle, the attack angle and the pitch angle speed of the hypersonic velocity variable sweepback wing aircraft successively; in each layer of control law design, aiming at the given flight state and input constraint in the step one, the state and input saturation influence are compensated by designing an instruction filtering auxiliary system; aiming at the system unknown composite interference caused by the deformation additional effect and the pneumatic uncertainty in the step two, an interference compensation mechanism is introduced to counteract the interference influence, an instruction filtering tracking control law based on interference compensation is designed, the stability and robustness of a closed-loop system are improved, and stable flight of the hypersonic speed variable sweepback wing aircraft under the working conditions of a transonic speed domain and multi-mode flight is realized.
2. The method for controlling the tracking of the hypersonic velocity variable sweepback wing aircraft with interference compensation according to claim 1, wherein the method comprises the following steps: the first implementation method comprises the following steps of,
the method comprises the following steps of establishing a longitudinal dynamic model of the hypersonic speed variable-sweep wing aircraft as shown in formula (1):
h is the flying height, X is the forward flying distance, V is the flying speed, gamma is the trajectory inclination angle, theta is the organism pitch angle, alpha is the flying attack angle, q is the pitch angle speed, and lambda is the wing sweep angle; m is the total mass of the aircraft,
is the moment of inertia of the machine body to the center of mass of the machine body,
the moment of inertia of the wing to the center of mass of the airframe, and g is the gravity acceleration; the deformation process is modeled as a continuous second order segment,
and ζΛUndamped natural frequency and damping ratio, Λ, for a variable sweep angle responsecA sweep angle control command;
and
additional disturbance force and moment terms for the sweep angle transformation:
wherein ,mwIn order to be the quality of the wing,
the distance from the center of mass of the wing to the center of mass of the body along the axial direction of the body; l, D and
is the aerodynamic and aerodynamic moments to which the aircraft is subjected:
where ρ is the air density, Ma is the flight Mach number, Sref(Λ) is a reference area, LrefIs a reference length; cL(Ma,α,Λ)、CD(Ma, α, Λ) and Cmz(Ma, α, Λ) are lift, drag and pitch moment coefficients, respectively, which can be expressed as nonlinear functions of flight mach number Ma, sweep angle Λ and angle of attack α:
wherein ,δeIn order to raise and lower the rudder deflection angle,
are respectively the aerodynamic coefficients under the zero attack angle,
respectively are first-order proportional coefficients of lift coefficient, drag coefficient and pitching moment coefficient to attack angle,
is the second order proportionality coefficient of drag coefficient to angle of attack,
for controlling the ratio of torque to rudder angle, Δ CL、ΔCD、ΔCmzRespectively, uncertainty terms of the aerodynamic coefficient; considering flight state constraint and input saturation influence, the flight state and elevator deflection angle need to meet the following constraints in the flight process:
wherein ,[γmin,γmax]、[αmin,αmax]、[qmin,qmax]And
the lower and upper bounds of the trajectory inclination, angle of attack, pitch rate, and elevator yaw angle, respectively.
3. The method for controlling the tracking of the hypersonic velocity variable sweepback wing aircraft with interference compensation according to claim 2, wherein: the second step is realized by the method that,
selecting a state vector x ═ x1,x2,x3,x4]T＝[H,γ,α,q]TControl quantity u is deltaeThe composite interference formed by the deformation additional force, the moment and the pneumatic uncertain items is recorded as follows:
wherein ,
and
uncertainty due to aerodynamic parameters; the system shown in the formula (1) is converted into an uncertain strict feedback nonlinear tracking control system as follows:
wherein ,g1(x2)、f2(x,Λ)、b1(x,Λ)、g2(x,Λ)、f2(x, Λ) and b2(x, Λ) is specifically:
4. the method for controlling the tracking of the hypersonic velocity variable sweepback wing aircraft with interference compensation according to claim 3, wherein the method comprises the following steps: in order to ensure accurate and rapid estimation of unknown complex interference of the system, aiming at a model shown in formula (7), the following nonlinear interference observer is designed:
wherein ,
are respectively d1 and d2An observed value of z1 and z2Is the internal state of a non-linear disturbance observer, Q1 and Q2Is the observer gain.
5. The method for controlling the tracking of the hypersonic velocity variable sweepback wing aircraft with interference compensation according to claim 4, wherein the method comprises the following steps: aiming at the uncertain strict feedback nonlinear tracking control model shown in the formula (7), the Backstepping method based tracking control law of the altitude, the trajectory inclination angle, the attack angle and the pitch angle of the hypersonic velocity variable sweepback aircraft is designed gradually, the realization steps are as follows,
step 4.1: considering trajectory inclination angle constraint, designing a hypersonic speed variable sweepback wing aircraft height tracking control law; recording the height reference signal as
Derivative thereof
Is a known signal; defining a height tracking error as
Designing virtual control quantities
Comprises the following steps:
wherein ,K1The more than 0 is the design parameter,
is the expected ballistic dip; by pairs
The anticipatory ballistic dip command is:
considering the trajectory inclination angle constraint shown in equation (5), will
Inputting an instruction filter for constraint limitation;
in order to ensure the fast operation of the instruction filtering, the following second-order instruction filter is selected:
wherein ,
in the form of a command for a ballistic inclination signal, sat (-) is a saturation function, ω1,n and ζ1The undamped natural frequency and the damping ratio of the instruction filter; by integrating equation (12), the command signal is obtained quickly
First derivative of
And signaling the inclination angle of the trajectory
Satisfying a given constraint; considering the error influence between the actual input and the instruction output under the condition of instruction filtering saturation, the following compensation dynamic system is designed:
wherein ,ξ1To compensate the signal; defining the compensated height error as epsilon1＝e1-ξ1Will epsilon1Introducing a height control law, changing the formula (10) into:
wherein ,c1The compensation gain is more than 0; equation (14) is a height tracking control law with an instruction filtering auxiliary system, and ballistic inclination angle instructions obtained by solving equations (11) and (12)
And derivatives thereof
Step 4.2: considering the attack angle constraint, the composite interference influence generated by deformation additional force and aerodynamic uncertainty, and designing a trajectory inclination angle tracking control law; defining the tracking error of the ballistic inclination as
Introducing the composite interference estimated value obtained in the third step
Counteracting the deformation additional force generated by the variable sweepback wing and the compound interference influence generated by aerodynamic uncertainty, and designing a trajectory inclination angle tracking control law:
wherein ,K2＞0 and c2The more than 0 is the design parameter,
for desired angle of flight, epsilon2For compensated ballistic inclination tracking error, defined as ε2＝e2-ξ2，ξ2To compensate the signal; considering the attack angle constraint shown in the formula (5), the following compensation dynamic auxiliary system is designed to reduce the state saturation influence:
will be provided with
Inputting an instruction filter for constraint limitation; the following second order instruction filters were selected:
wherein ,ω2,n and ζ2The undamped natural frequency and the damping ratio of the instruction filter; instruction form for obtaining expected attack angle by integrating equation (17)
And derivatives thereof
Step 4.3: considering pitch angle speed constraint, designing an attack angle tracking control law; defining an angle of attack tracking error as
The attack angle tracking control law is designed as follows:
wherein ,
to expect pitch angle velocity, K3＞0 and c3Greater than 0 as a design parameter,. epsilon3For compensated angle of attack error, defined as ε3＝e3-ξ3(ii) a Considering the pitch angle rate constraint shown in equation (5), the following compensation dynamic assistance system is designed to reduce the input saturation effect:
wherein ,ξ3To compensate the signal; will be provided with
Inputting an instruction filter for constraint limitation; the following second order instruction filters were selected:
wherein ,ω3,n and ζ3The undamped natural frequency and the damping ratio of the instruction filter; integration of (20) to obtain the desired pitch rate command form
And derivatives thereof
Step 4.4: considering input saturation, composite interference influence generated by deformation additional moment and pneumatic uncertainty, and designing a pitch angle speed tracking control law; defining an angular velocity tracking error as
Introducing the third stepEstimated value of the arrival composite interference
Offsetting the composite interference influence generated by the deformation additional moment and the aerodynamic uncertainty and designing the expected elevator deflection command udComprises the following steps:
in the formula ,K4＞0 and c4Greater than 0 as a design parameter,. epsilon4＝e4-ξ4For compensated pitch angle speed tracking error, ξ4To compensate the signal; considering the elevator deflection angle constraint shown in the formula (5), the following compensation dynamic auxiliary system is designed to reduce the input saturation influence:
wherein ,ucIs udThe instruction form of (1); will udInputting an instruction filter for constraint limitation; the following second order instruction filters were selected:
wherein ,ω4,n and ζ4The undamped natural frequency and the damping ratio of the instruction filter; obtaining the command form u of the deflection angle of the elevator according to the formula (23)c；
Step 4.5: the command filtering tracking control law based on interference compensation designed for the steps 4.1 to 4.4 comprises a height tracking control law in the step 4.1, a trajectory inclination angle tracking control law in the step 4.2, an attack angle tracking control law in the step 4.3, a pitch angle and speed tracking control law in the step 4.4, and control law conditions for ensuring system stability and robustness are given based on a Lyapunov stability method:
K*＝min{K1+c1,K2+c2-0.5,K3+c3,K4+c4-0.5,Q1-1,Q2-1}＞0 (24)
will ucIn the system shown in the input formula (7), tracking control is performed according to the command filtering tracking control law of the hypersonic speed variable sweepback wing aircraft with interference compensation, so that the stability and robustness of a closed loop system can be improved, and stable flight of the hypersonic speed variable sweepback wing aircraft under the working conditions of a transonic speed domain and multi-mode flight is ensured.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111113738.5A CN113778129B (en) | 2021-09-23 | 2021-09-23 | Interference compensation type high-ultrasonic speed changing swept wing aircraft tracking control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111113738.5A CN113778129B (en) | 2021-09-23 | 2021-09-23 | Interference compensation type high-ultrasonic speed changing swept wing aircraft tracking control method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113778129A true CN113778129A (en) | 2021-12-10 |
| CN113778129B CN113778129B (en) | 2023-09-19 |
Family
ID=78852842
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111113738.5A Active CN113778129B (en) | 2021-09-23 | 2021-09-23 | Interference compensation type high-ultrasonic speed changing swept wing aircraft tracking control method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113778129B (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115016291A (en) * | 2022-07-13 | 2022-09-06 | 西北工业大学 | Aircraft anti-interference attitude control system and method based on wind field information |
| CN115268487A (en) * | 2022-07-13 | 2022-11-01 | 北京电子工程总体研究所 | Aircraft altitude control method and system based on disturbance estimation compensation LOS guidance law |
| CN115328185A (en) * | 2022-08-30 | 2022-11-11 | 北京京航计算通讯研究所 | Nonlinear unsteady aerodynamic load correction system of aircraft |
| CN115685764A (en) * | 2023-01-03 | 2023-02-03 | 北京航空航天大学杭州创新研究院 | Task self-adaptive anti-interference tracking control method and system for variable-span aircraft |
| CN117289598A (en) * | 2023-08-01 | 2023-12-26 | 北京理工大学重庆创新中心 | Method and system for controlling backstepping sliding mode of aircraft |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102866635A (en) * | 2012-09-29 | 2013-01-09 | 西北工业大学 | Adaptive control method for discrete neural network of hypersonic aerocraft on basis of equivalence model |
| CN103217902A (en) * | 2013-03-14 | 2013-07-24 | 郭雷 | Command filtering backstepping control method based on interference observer |
| CN103592847A (en) * | 2013-10-30 | 2014-02-19 | 天津大学 | Hypersonic aerocraft nonlinear control method based on high-gain observer |
| CN104238357A (en) * | 2014-08-21 | 2014-12-24 | 南京航空航天大学 | Fault-tolerant sliding-mode control method for near-space vehicle |
| US20160209850A1 (en) * | 2014-12-09 | 2016-07-21 | Embry-Riddle Aeronautical University, Inc. | System and method for robust nonlinear regulation control of unmanned aerial vehicles syntetic jet actuators |
| CN105865441A (en) * | 2016-03-31 | 2016-08-17 | 北京航空航天大学 | Composite layered adaptive filter for multi-source disturbance system |
-
2021
- 2021-09-23 CN CN202111113738.5A patent/CN113778129B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102866635A (en) * | 2012-09-29 | 2013-01-09 | 西北工业大学 | Adaptive control method for discrete neural network of hypersonic aerocraft on basis of equivalence model |
| CN103217902A (en) * | 2013-03-14 | 2013-07-24 | 郭雷 | Command filtering backstepping control method based on interference observer |
| CN103592847A (en) * | 2013-10-30 | 2014-02-19 | 天津大学 | Hypersonic aerocraft nonlinear control method based on high-gain observer |
| CN104238357A (en) * | 2014-08-21 | 2014-12-24 | 南京航空航天大学 | Fault-tolerant sliding-mode control method for near-space vehicle |
| US20160209850A1 (en) * | 2014-12-09 | 2016-07-21 | Embry-Riddle Aeronautical University, Inc. | System and method for robust nonlinear regulation control of unmanned aerial vehicles syntetic jet actuators |
| CN105865441A (en) * | 2016-03-31 | 2016-08-17 | 北京航空航天大学 | Composite layered adaptive filter for multi-source disturbance system |
Non-Patent Citations (3)
| Title |
|---|
| YIFAN TANG 等: "Aero-structure Coupled Optimization for High Aspect Ratio Wings Using Multi-model Fusion Method", 2019 IEEE 9TH ANNUAL INTERNATIONAL CONFERENCE ON CYBER TECHNOLOGY IN AUTOMATION, CONTROL, AND INTELLIGENT SYSTEMS (CYBER) * |
| 储培 等: "基于反步滑模的高超声速变体飞行器鲁棒控制", 计算机仿真, vol. 35, no. 8 * |
| 熊英 等: "基于干扰观测器的变后掠翼近空间飞行器鲁棒跟踪控制", 中国科学, vol. 49, no. 5 * |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115016291A (en) * | 2022-07-13 | 2022-09-06 | 西北工业大学 | Aircraft anti-interference attitude control system and method based on wind field information |
| CN115268487A (en) * | 2022-07-13 | 2022-11-01 | 北京电子工程总体研究所 | Aircraft altitude control method and system based on disturbance estimation compensation LOS guidance law |
| CN115016291B (en) * | 2022-07-13 | 2023-11-10 | 西北工业大学 | Wind field information-based anti-interference attitude control system and method for aircraft |
| CN115268487B (en) * | 2022-07-13 | 2024-05-28 | 北京电子工程总体研究所 | Aircraft altitude control method and system based on disturbance estimation and compensation LOS guidance law |
| CN115328185A (en) * | 2022-08-30 | 2022-11-11 | 北京京航计算通讯研究所 | Nonlinear unsteady aerodynamic load correction system of aircraft |
| CN115685764A (en) * | 2023-01-03 | 2023-02-03 | 北京航空航天大学杭州创新研究院 | Task self-adaptive anti-interference tracking control method and system for variable-span aircraft |
| CN117289598A (en) * | 2023-08-01 | 2023-12-26 | 北京理工大学重庆创新中心 | Method and system for controlling backstepping sliding mode of aircraft |
| CN117289598B (en) * | 2023-08-01 | 2024-06-11 | 北京理工大学重庆创新中心 | Method and system for controlling backstepping sliding mode of aircraft |
Also Published As
| Publication number | Publication date |
|---|---|
| CN113778129B (en) | 2023-09-19 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110531777B (en) | Four-rotor aircraft attitude control method and system based on active disturbance rejection control technology | |
| CN113778129A (en) | Hypersonic speed variable sweepback wing aircraft tracking control method with interference compensation | |
| CN110908278B (en) | Dynamics modeling and stability control method of folding wing aircraft | |
| CN109426146B (en) | High-order nonsingular Terminal sliding mode control method of hypersonic aircraft | |
| CN110119089B (en) | Immersion constant flow pattern self-adaptive quad-rotor control method based on integral sliding mode | |
| CN108363305B (en) | Tactical missile robust overload autopilot design method based on active interference compensation | |
| CN105159305B (en) | A kind of quadrotor flight control method based on sliding moding structure | |
| CN110531776B (en) | Four-rotor aircraft position control method and system based on active disturbance rejection control technology | |
| CN111367182A (en) | Hypersonic aircraft anti-interference backstepping control method considering input limitation | |
| CN109703768B (en) | Soft air refueling docking method based on attitude/trajectory composite control | |
| CN105425812B (en) | Unmanned aerial vehicle automatic landing trajectory control method based on dual models | |
| CN111045440B (en) | Hypersonic aircraft nose-down section rapid rolling control method | |
| CN112578805B (en) | Attitude control method of rotor craft | |
| CN111290278B (en) | Hypersonic aircraft robust attitude control method based on prediction sliding mode | |
| CN110209192A (en) | Fighter plane course augmentation control design method | |
| Ferrier et al. | Active gust load alleviation of high-aspect ratio flexible wing aircraft | |
| CN110316400A (en) | A kind of canard layout fixed-wing unmanned plane direct lift force control method | |
| CN114942649B (en) | Airplane pitching attitude and track angle decoupling control method based on backstepping method | |
| CN114721266B (en) | Self-adaptive reconstruction control method under condition of structural failure of control surface of airplane | |
| CN117289598B (en) | Method and system for controlling backstepping sliding mode of aircraft | |
| CN108958278B (en) | Aerospace vehicle cruise section rapid anti-interference guidance method | |
| CN114637203A (en) | Flight control system for medium-high speed and large-sized maneuvering unmanned aerial vehicle | |
| CN114995103A (en) | Balance compensation control method for transition process of tilt-wing aircraft | |
| Ngo et al. | Multivariable control law design for a tailless airplane | |
| CN112149234A (en) | Aircraft particle motion model design method based on pitch angle rate input |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |